version: 66.03
glider: 141
mission: 7
dive: 28
start: 4 10 108 1 21 34
data:
$ID,141
$MISSION,7
$DIVE,28
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,350
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52046
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,225
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6693.7769
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,581
$PITCH_MAX,3865
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13.5
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,157
$ROLL_MAX,3732
$ROLL_DEG,40
$C_ROLL_DIVE,2030
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3955
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,86.599998
$AH0_10V,100
$PRESSURE_YINT,-2.8638275
$PRESSURE_SLOPE,9.1207337e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043133562
$SEABIRD_T_H,0.00062858552
$SEABIRD_T_I,2.3249919e-05
$SEABIRD_T_J,2.3890996e-06
$SEABIRD_C_G,-10.024263
$SEABIRD_C_H,1.1472844
$SEABIRD_C_I,-0.00073099177
$SEABIRD_C_J,0.00011512569
$GPS1,011307,5856.140,-1918.360,38,1.3,38,-13.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-51.3
$GPS2,012115,5856.004,-1918.579,11,1.5,11,-13.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5848.368,-1922.534
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,238.6,20000,-14.9,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,149,0.00,0.00,-119.70,0.000,6,0.000,0.000,574,2043,3857
$GC,151,-1.34,-194.7,3.8,-8.4,17,167,11.15,2.58,0.00,0.000,4,0.201,0.046,2482,3439,3859
$GC,314,-1.29,-194.7,34.1,-14.8,47,322,0.00,2.55,0.00,0.000,6,0.000,0.037,2482,2021,3860
$GC,448,-1.29,-194.7,49.2,-10.8,72,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3860
$GC,582,-1.29,-194.7,62.5,-10.8,97,590,0.00,2.60,0.00,0.000,4,0.000,0.055,2482,3427,3859
$GC,613,-1.24,-194.7,65.8,-11.5,102,620,0.08,2.50,0.00,0.000,6,0.113,0.037,2500,2030,3859
$GC,746,-1.24,-194.7,80.5,-12.1,127,753,0.00,2.58,0.00,0.000,4,0.000,0.054,2500,3423,3859
$GC,771,-1.24,-194.7,83.4,-11.9,131,779,0.00,2.47,0.00,0.000,6,0.000,0.035,2500,2032,3860
$GC,905,-1.24,-194.7,96.3,-7.7,156,913,0.00,2.58,0.00,0.000,4,0.000,0.059,2500,627,3859
$GC,926,-1.24,-194.7,98.1,-8.6,159,934,0.00,2.47,0.00,0.000,6,0.000,0.043,2500,2009,3859
$GC,1060,-1.24,-194.7,112.5,-12.3,184,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2012,3859
$GC,1193,-1.24,-194.7,128.1,-12.9,209,1200,0.00,2.60,0.00,0.000,4,0.000,0.058,2500,3433,3859
$GC,1223,-1.24,-194.7,131.8,-13.0,214,1230,0.00,2.50,0.00,0.000,6,0.000,0.042,2500,2028,3859
$GC,1356,-1.24,-194.7,146.5,-10.1,239,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2023,3859
$GC,1491,-1.24,-194.7,159.6,-9.4,264,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2022,3859
$GC,1824,-1.24,-194.7,189.5,-9.3,325,1830,0.00,2.58,0.00,0.000,4,0.000,0.053,2501,3439,3859
$GC,1853,-1.24,-194.7,192.4,-9.9,330,1861,0.00,2.50,0.00,0.000,6,0.000,0.041,2500,2034,3859
$GC,2188,-1.24,-194.7,224.8,-10.1,391,2194,0.00,2.58,0.00,0.000,4,0.000,0.057,2500,3444,3860
$GC,2201,-1.24,-194.7,226.3,-10.3,393,2207,0.00,2.47,0.00,0.000,6,0.000,0.035,2500,2031,3859
$GC,2530,-1.24,-194.7,261.3,-10.0,454,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2027,3859
$GC,2862,-1.24,-194.7,296.4,-10.5,515,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2027,3859
$GC,3190,-1.24,-194.7,332.1,-10.4,576,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2027,3859
$GC,3528,-1.24,-194.7,368.4,-11.1,637,3534,0.00,2.58,0.00,0.000,4,0.000,0.054,2500,3432,3859
$GC,3544,-1.24,-194.7,370.5,-10.9,640,3553,0.00,2.50,0.00,0.000,6,0.000,0.042,2500,2035,3859
$GC,3888,-1.24,-194.7,407.0,-10.5,701,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2033,3860
$GC,4227,-1.24,-194.7,440.7,-9.3,762,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2032,3859
$GC,4565,-1.24,-194.7,473.0,-9.8,823,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2032,3859
$GC,4904,-1.24,-194.7,505.4,-9.8,884,4912,0.00,2.62,0.00,0.000,4,0.000,0.064,2500,3427,3859
$GC,4929,-1.24,-194.7,507.9,-10.1,888,4937,0.00,2.50,0.00,0.000,6,0.000,0.046,2500,2041,3859
$GC,5274,-1.24,-194.7,542.1,-9.7,949,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2040,3859
$GC,5614,-1.24,-194.7,576.6,-10.1,1010,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2040,3859
$GC,5949,-1.24,-194.7,609.7,-9.8,1062,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3859
$GC,6268,-1.24,-194.7,639.9,-9.6,1092,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3859
$GC,6587,-1.24,-194.7,670.4,-9.2,1122,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3859
$GC,6905,-1.24,-194.7,700.4,-9.5,1152,6910,0.00,2.67,0.00,0.000,4,0.000,0.083,2500,3427,3859
$GC,6926,-1.24,-194.7,702.6,-10.2,1153,6933,0.00,2.58,0.00,0.000,6,0.000,0.056,2500,2048,3859
$GC,7253,-1.24,-194.7,733.6,-9.4,1184,7257,0.00,2.80,0.00,0.000,4,0.000,0.094,2500,617,3859
$GC,7269,-1.24,-194.7,735.3,-9.4,1185,7273,0.00,2.55,0.00,0.000,6,0.000,0.051,2500,2021,3858
$GC,7593,-1.24,-194.7,766.2,-9.7,1215,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2022,3858
$GC,7910,-1.24,-194.7,797.2,-10.1,1245,7915,0.00,2.70,0.00,0.000,4,0.000,0.081,2500,3446,3859
$GC,7942,-1.24,-194.7,800.6,-10.5,1247,7949,0.00,2.60,0.00,0.000,6,0.000,0.047,2500,2024,3858
$GC,8268,-1.24,-194.7,832.6,-9.8,1278,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2023,3858
$GC,8586,-1.24,-194.7,863.3,-9.3,1308,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2023,3858
$GC,8906,-1.24,-194.7,891.6,-8.3,1338,8911,0.00,2.67,0.00,0.000,4,0.000,0.069,2500,3450,3857
$GC,8922,-1.24,-194.7,893.2,-8.4,1339,8926,0.00,2.58,0.00,0.000,6,0.000,0.048,2500,2027,3857
$GC,9247,-1.24,-194.7,920.0,-8.9,1369,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2027,3857
$GC,9565,-1.24,-194.7,949.9,-9.6,1399,9569,0.00,2.65,0.00,0.000,4,0.000,0.068,2500,3441,3857
$GC,9592,-1.24,-194.7,952.7,-10.5,1401,9596,0.00,2.55,0.00,0.000,6,0.000,0.048,2499,2031,3857
$GC,9916,-1.24,-194.7,984.9,-9.8,1431,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2031,3857
$STATE,9967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9967,begin apogee
$GC,9971,-0.37,0.0,990.1,10.1,1436,10144,0.93,0.00,169.10,1.282,6,0.100,0.000,2696,2030,3062
$STATE,10144,end apogee,CONTROL_FINISHED_OK
$STATE,10145,begin climb
$GC,10146,1.34,194.7,994.8,0.0,1453,10323,1.67,0.00,168.98,1.248,6,0.077,0.000,3070,2031,2267
$GC,10641,1.28,194.7,949.3,10.4,1501,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2031,2261
$GC,10960,1.23,194.7,913.4,11.5,1531,10965,0.12,2.65,0.00,0.000,4,0.111,0.061,3046,3436,2260
$GC,11003,1.23,194.7,908.5,10.6,1534,11010,0.00,2.60,0.00,0.000,6,0.000,0.044,3046,2032,2260
$GC,11328,1.24,202.5,877.0,9.7,1565,11342,0.00,2.78,7.12,0.986,4,0.000,0.073,3046,617,2236
$GC,11360,1.25,217.0,873.8,9.5,1568,11381,0.00,2.60,14.65,1.109,6,0.000,0.044,3046,2043,2177
$GC,11699,1.26,223.5,841.2,9.8,1600,11713,0.00,2.70,7.28,0.977,4,0.000,0.071,3046,3432,2150
$GC,11735,1.26,223.6,837.2,10.0,1603,11742,0.00,2.58,0.00,0.000,6,0.000,0.043,3046,2032,2149
$GC,12060,1.26,223.6,803.9,10.4,1634,12065,0.00,2.65,0.00,0.000,4,0.000,0.069,3046,617,2148
$GC,12103,1.26,223.6,799.1,10.7,1637,12110,0.00,2.58,0.00,0.000,6,0.000,0.044,3046,2029,2148
$GC,12429,1.26,223.6,765.0,10.5,1668,12430,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2029,2148
$GC,12747,1.26,223.6,730.8,10.6,1698,12751,0.00,2.62,0.00,0.000,4,0.000,0.070,3046,3434,2147
$GC,12778,1.26,223.6,727.3,11.0,1700,12786,0.00,2.58,0.00,0.000,6,0.000,0.042,3046,2024,2147
$GC,13104,1.28,236.3,694.4,9.6,1731,13129,0.00,2.70,14.62,0.906,4,0.000,0.068,3046,614,2098
$GC,13166,1.28,236.3,688.0,10.0,1736,13174,0.00,2.60,0.00,0.000,6,0.000,0.043,3046,2029,2097
$GC,13492,1.28,236.3,656.1,10.3,1767,13493,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2029,2096
$GC,13811,1.29,249.8,624.5,9.5,1797,13830,0.00,0.00,13.65,0.985,6,0.000,0.000,3046,2031,2042
$GC,14155,1.29,249.8,589.8,10.1,1837,14160,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2032,2040
$GC,14493,1.29,249.8,554.5,10.3,1898,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2032,2040
$GC,14832,1.30,257.4,518.9,9.7,1959,14847,0.00,2.65,8.18,0.854,4,0.000,0.057,3046,617,2011
$GC,14871,1.30,257.4,514.9,10.5,1965,14877,0.00,2.55,0.00,0.000,6,0.000,0.041,3046,2029,2011
$GC,15207,1.33,277.1,480.7,9.3,2026,15231,0.10,0.00,18.70,0.923,6,0.068,0.000,3078,2031,1932
$GC,15565,1.33,277.1,438.5,11.5,2090,15570,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2031,1930
$GC,15903,1.33,277.1,399.2,10.6,2151,15909,0.00,2.65,0.00,0.000,4,0.000,0.055,3078,608,1929
$GC,15925,1.33,277.1,396.5,11.9,2155,15931,0.00,2.55,0.00,0.000,6,0.000,0.038,3079,2033,1930
$GC,16263,1.33,277.1,357.6,10.9,2216,16271,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2035,1929
$GC,16599,1.33,277.1,319.4,11.2,2277,16604,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2036,1929
$GC,16926,1.33,277.1,281.3,10.8,2338,16934,0.00,2.65,0.00,0.000,4,0.000,0.061,3079,618,1929
$GC,16958,1.29,277.1,277.8,11.5,2343,16964,0.00,2.50,0.00,0.000,6,0.000,0.038,3079,2024,1930
$GC,17288,1.29,277.1,238.9,12.7,2404,17295,0.00,2.58,0.00,0.000,4,0.000,0.056,3079,3425,1930
$GC,17318,1.29,277.1,235.1,12.8,2409,17325,0.00,2.53,0.00,0.000,6,0.000,0.037,3078,2004,1929
$GC,17648,1.29,277.1,193.7,12.3,2470,17656,0.00,2.55,0.00,0.000,4,0.000,0.062,3079,624,1929
$GC,17690,1.29,277.1,188.1,14.8,2477,17696,0.00,2.47,0.00,0.000,6,0.000,0.038,3079,2021,1929
$GC,18021,1.29,277.1,143.8,13.6,2538,18029,0.00,2.58,0.00,0.000,4,0.000,0.061,3078,3424,1929
$GC,18051,1.29,277.1,139.9,13.0,2543,18059,0.00,2.55,0.00,0.000,6,0.000,0.042,3079,2005,1930
$GC,18186,1.29,277.1,121.2,12.5,2568,18194,0.00,2.55,0.00,0.000,4,0.000,0.059,3078,621,1929
$GC,18227,1.24,277.1,115.6,15.5,2575,18236,0.10,2.47,0.00,0.000,6,0.091,0.038,3053,1997,1929
$GC,18363,1.36,368.6,104.4,6.8,2600,18450,0.00,2.67,78.72,0.717,4,0.000,0.052,3053,3424,1558
$GC,18478,1.40,368.6,93.2,13.2,2617,18486,0.10,2.60,0.00,0.000,6,0.045,0.036,3091,1991,1554
$GC,18613,1.44,396.5,77.3,9.0,2642,18643,0.00,2.55,24.17,0.674,4,0.000,0.054,3091,619,1444
$GC,18676,1.44,396.5,70.3,12.1,2652,18684,0.00,2.50,0.00,0.000,6,0.000,0.040,3091,1994,1442
$GC,18811,1.44,396.5,54.3,16.1,2677,18818,0.00,2.62,0.00,0.000,4,0.000,0.054,3091,3422,1440
$GC,18846,1.44,396.5,49.4,15.6,2683,18854,0.00,2.58,0.00,0.000,6,0.000,0.036,3091,1994,1438
$GC,18980,1.44,396.5,31.9,13.1,2708,18988,0.00,2.55,0.00,0.000,4,0.000,0.062,3091,621,1438
$GC,19016,1.44,396.5,26.3,14.1,2714,19023,0.00,2.42,0.00,0.000,6,0.000,0.044,3091,1969,1438
$GC,19149,1.44,396.5,8.3,10.8,2739,19157,0.00,2.67,0.00,0.000,4,0.000,0.055,3091,3429,1438
$GC,19164,1.44,396.5,6.5,10.9,2741,19172,0.00,2.60,0.00,0.000,6,0.000,0.036,3091,1982,1437
$STATE,19194,end climb,SURFACE_DEPTH_REACHED
$STATE,19194,begin surface coast
$FINISH,0.0,1.027169
$STATE,19216,end surface coast,CONTROL_FINISHED_OK
$STATE,19216,begin surface
$SM_CCo,19294,0.00,0.000,0,0,1435,399.10
$SM_GC,0.61,10.52,0.00,0.00,0.034,0.000,0.000,572,2046,1435,-10.07,0.45,399.10
$IRIDIUM_FIX,5841.97,-1905.76,040797,191920
$TT8_MAMPS,0.042185
$HUMID,1575
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,13.20
$XPDR_PINGS,723
$24V_AH,23.5,6.795
$10V_AH,10.5,9.114
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,24.775,165.425,525.175,0.000,0.000,31.050,32.967,298.670,180.750,0.000,0.000,13.140,4194.429,7953.935,734.355,6207.525,661.189,0.000,2874.684,0.000,6251.288,0.000,0.465
$DEVICE_MAMPS,200.954,93.574,1281.657,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1896.808,1994.689,1217.721,1737.692,3392.735,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202679,2750
$CAP_FILE_SIZE,219665,0
$CFSIZE,260165632,254484480
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100408,064407,5851.439,-1931.710,26,1.4,26,-13.7